The lawsuit comes after the public testing phase for Tesla Robotaxis in Austin, TX. Videos from participants in the Robotaxi Pilot Program showed vehicles exhibiting alarming behaviors, including dropping off passengers in the middle of intersections and driving into opposing lanes.

The company has been running a limited pilot program in Austin since June, with safety monitors in self-driving vehicles.

Tesla is hiring test drivers in Queens, New York for its robotaxi program, but the company hasn’t applied for the state permits required for autonomous vehicle trials.